CA1073111A - Mode et appareil d'etalonnage d'un systeme mecanico-visuel de manipulation de pieces - Google Patents

Mode et appareil d'etalonnage d'un systeme mecanico-visuel de manipulation de pieces

Info

Publication number
CA1073111A
CA1073111A CA261,838A CA261838A CA1073111A CA 1073111 A CA1073111 A CA 1073111A CA 261838 A CA261838 A CA 261838A CA 1073111 A CA1073111 A CA 1073111A
Authority
CA
Canada
Prior art keywords
coordinate
coordinate system
angle
vector
manipulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
CA261,838A
Other languages
English (en)
Inventor
Carl F. Ruoff (Jr.)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bendix Corp
Original Assignee
Bendix Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US05/636,069 external-priority patent/US3986007A/en
Application filed by Bendix Corp filed Critical Bendix Corp
Application granted granted Critical
Publication of CA1073111A publication Critical patent/CA1073111A/fr
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Image Processing (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CA261,838A 1975-11-28 1976-09-22 Mode et appareil d'etalonnage d'un systeme mecanico-visuel de manipulation de pieces Expired CA1073111A (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/636,069 US3986007A (en) 1975-08-20 1975-11-28 Method and apparatus for calibrating mechanical-visual part manipulating system

Publications (1)

Publication Number Publication Date
CA1073111A true CA1073111A (fr) 1980-03-04

Family

ID=24550294

Family Applications (1)

Application Number Title Priority Date Filing Date
CA261,838A Expired CA1073111A (fr) 1975-11-28 1976-09-22 Mode et appareil d'etalonnage d'un systeme mecanico-visuel de manipulation de pieces

Country Status (6)

Country Link
JP (1) JPS5267355A (fr)
AU (1) AU503000B2 (fr)
CA (1) CA1073111A (fr)
DE (1) DE2649608A1 (fr)
FR (1) FR2332843A1 (fr)
GB (1) GB1518244A (fr)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5414763A (en) * 1977-07-05 1979-02-03 Mitsutoyo Seisakusho Coordinate measuring display system
CH627959A5 (de) * 1977-10-04 1982-02-15 Bbc Brown Boveri & Cie Verfahren und einrichtung zur drehlagebestimmung von gegenstaenden.
JPS5630609A (en) * 1979-08-21 1981-03-27 Kosaka Kenkyusho:Kk Polar coordinate recorder
US4468695A (en) * 1980-11-20 1984-08-28 Tokico Ltd. Robot
JPS57192807A (en) * 1981-05-25 1982-11-27 Hitachi Ltd Centering method
GB2123172B (en) * 1982-07-06 1986-10-22 Emi Ltd A robot control system
EP0108511A3 (fr) * 1982-11-04 1985-12-18 EMI Limited Systèmes de commande de robot
DE3246828C2 (de) * 1982-12-17 1987-04-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Mobile Transport- und Handhabungseinrichtung
DE3306888A1 (de) * 1983-02-26 1984-09-13 GdA Gesellschaft für digitale Automation mbH, 8000 München Verfahren und vorrichtung zum erfassen und kompensieren der bahnabweichung eines industrieroboters
IN161120B (fr) * 1983-03-30 1987-10-03 Wyler Ag
JPS60159905A (ja) * 1984-01-30 1985-08-21 Hitachi Ltd 視覚を備えたロボツトの制御装置
JPS6138511A (ja) * 1984-07-31 1986-02-24 Toyo Electric Mfg Co Ltd 立体物の座標測定方式
DE3445849A1 (de) * 1984-12-15 1986-06-19 Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen Industrie-roboter
JPH07104153B2 (ja) * 1985-09-24 1995-11-13 株式会社ニコン 駆動装置
FI101689B (fi) * 1993-06-17 1998-08-14 Robotic Technology Systems Fin Menetelmä kappaleen käsittelemiseksi
FI955274A7 (fi) * 1995-11-03 1997-05-04 Robotic Technology Systems Fin Työstösolu ja menetelmä kappaleen työstämiseksi
RU2185953C1 (ru) * 2001-02-02 2002-07-27 Акционерное общество "АвтоВАЗ" Стенд для контроля точности контурных перемещений промышленного робота
RU2299800C1 (ru) * 2005-11-03 2007-05-27 Государственное образовательное учреждение высшего профессионального образования Марийский государственный технический университет Способ энергообеспечения автономных мобильных роботов
CN101572029B (zh) 2008-04-28 2012-01-25 鸿富锦精密工业（深圳）有限公司 机器人板材折弯模拟系统及方法
RU2472612C1 (ru) * 2011-06-01 2013-01-20 Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации Стенд для контроля точности контурных перемещений промышленного робота
RU2641604C1 (ru) * 2016-12-28 2018-01-18 Федеральное государственное автономное образовательное учреждение высшего образования "Дальневосточный федеральный университет" (ДВФУ) Способ измерения абсолютного положения конечного звена многозвенного механизма промышленного робота
CN107553493A (zh) * 2017-09-22 2018-01-09 东南大学 一种基于拉绳位移传感器的机器人运动学参数标定方法
RU2721769C1 (ru) * 2019-08-28 2020-05-22 Федеральное государственное автономное образовательное учреждение высшего образования "Национальный исследовательский Томский политехнический университет" Стенд для контроля контурных перемещений гибкого манипулятора

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4017721A (en) * 1974-05-16 1977-04-12 The Bendix Corporation Method and apparatus for determining the position of a body

Also Published As

Publication number Publication date
JPS5267355A (en) 1977-06-03
AU1949576A (en) 1978-05-18
FR2332843B1 (fr) 1981-06-12
AU503000B2 (en) 1979-08-16
DE2649608A1 (de) 1977-06-08
GB1518244A (en) 1978-07-19
FR2332843A1 (fr) 1977-06-24

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